Method for estimating lateral force of front wheels of distributed-type electrically-driven vehicle

Abstract

The invention discloses a method for estimating lateral force of front wheels of a distributed-type electrically-driven vehicle. The method is suitable for realtime monitoring of tire lateral force when the vehicle travels and used for safety evaluation. The method includes collecting state signals of the vehicle, and utilizing a vehicle dynamics equation to estimate longitudinal force and vertical force of tires in real time; transmitting estimated longitudinal force of each wheel, longitudinal acceleration signals, lateral acceleration signals, yawing velocity signals and steering wheel angle signals to a Kalman lateral force observer in a vehicle controller, and acquiring Kalman lateral force estimation values and rear axle lateral force estimation values of the front wheels; further processing the estimated lateral force by utilizing the vertical force of each wheel and front wheel steering angle difference to acquire final lateral force estimation values. The method has the advantages that only a linear Kalman filter is adopted, so that calculating instantaneity is guaranteed; acquiring of information of the tires and roads is not needed, so that the method is enabled to have robustness on different roads and tires, and estimated lateral force results can be used for tire characteristic analysis and road condition recognition.

Description

Technical field [0001] The present invention relates to a method for estimating lateral force of tires during vehicle driving, in particular to a method for estimating lateral force of tires of a distributed drive electric vehicle, which is used to test the lateral force of two front steering wheels and a rear axle . Background technique [0002] Distributed electric drive vehicles install the drive motors in or near each wheel. One motor independently drives one wheel. It has the advantages of fast response, short transmission chain, efficient transmission, and compact structure. It makes full use of the motor The characteristics of precise observation and fast controllability of torque are an important development direction in the field of electric vehicles. [0003] The current lateral stability control of distributed electric drive vehicles still has many problems that need to be improved, such as the inability to accurately estimate the tire lateral force under non-linear cha...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the existing single-wheel tire lateral force estimation depends on the tire model, the present invention provides a method for estimating the front wheel lateral force of a distributed electric drive vehicle, which gets rid of the limitation of the tire model and comprehensively considers the tire Characteristics and road conditions, accurately evaluate the lateral force of the tire, and improve the dynamic control effect of the vehicle

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